/***************************************************************************/ /**
 * \file controller.cpp
 *
 * \brief Simple PID controller with dynamic reconfigure
 * \author Andy Zelenak
 * \date March 8, 2015
 *
 * \section license License (BSD-3)
 * Copyright (c) 2015, Andy Zelenak\n
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * - Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 * - Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 * - Neither the name of Willow Garage, Inc. nor the names of its contributors
 * may be used to endorse or promote products derived from this software
 * without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/

// Subscribe to a topic about the state of a dynamic system and calculate
// feedback to
// stabilize it.

#include <pid/pid.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "controller");

  pid_ns::PidObject my_pid;

  return 0;
}